OpenRaiser/Intern-Atlas huggingface dataset:
Development of an Intuitive GUI for Non-Expert Teleoperation of Humanoid Robots
Venue: arXiv cs.RO 2025
Year: 2025

The operation of humanoid robotics is an essential field of research with many practical and competitive applications. Many of these systems, however, do not invest heavily in developing a non-expert-centered graphical user interface (GUI) for operation. The focus of this research is to develop a scalable GUI that is tailored to be simple and intuitive so non-expert operators can control the robot through a FIRA-regulated obstacle course. Using common practices from user interface development (UI) and understanding concepts described in human-robot interaction (HRI) and other related concepts, we will develop a new interface with the goal of a non-expert teleoperation system.
Multivariate Time Series Forecasting with Gate-Based Quantum Reservoir Computing on NISQ Hardware
Venue: arXiv cs.LG 2025
Year: 2025

Quantum reservoir computing (QRC) offers a hardware-friendly approach to temporal learning, yet most studies target univariate signals and overlook near-term hardware constraints. This work introduces a gate-based QRC for multivariate time series (MTS-QRC) that pairs injection and memory qubits and uses a Trotterized nearest-neighbor transverse-field Ising evolution optimized for current device connectivity and depth. On Lorenz-63 and ENSO, the method achieves a mean square error (MSE) of 0.0087 and 0.0036, respectively, performing on par with classical reservoir computing on Lorenz and above learned RNNs on both, while NVAR and clustered ESN remain stronger on some settings. On IBM Heron R2, MTS-QRC sustains accuracy with realistic depths and, interestingly, outperforms a noiseless simulator on ENSO; singular value analysis indicates that device noise can concentrate variance in feature directions, acting as an implicit regularizer for linear readout in this regime. These findings support the practicality of gate-based QRC for MTS forecasting on NISQ hardware and motivate systematic studies on when and how hardware noise benefits QRC readouts.
What is the objective of reasoning with reinforcement learning?
Venue: arXiv cs.LG 2025
Year: 2025

We show that several popular algorithms for reinforcement learning in large language models with binary rewards can be viewed as stochastic gradient ascent on a monotone transform of the probability of a correct answer given a prompt. In particular, the transformation associated with rejection sampling algorithms is the logarithm and that associated with the GRPO algorithm is the arcsine of the square root.
Local Information-Theoretic Security via Euclidean Geometry
Venue: arXiv cs.IT 2025
Year: 2025

This paper introduces a methodology based on Euclidean information theory to investigate local properties of secure communication over discrete memoryless wiretap channels. We formulate a constrained optimization problem that maximizes a legitimate user's information rate while imposing explicit upper bounds on both the information leakage to an eavesdropper and the informational cost of encoding the secret message. By leveraging local geometric approximations, this inherently non-convex problem is transformed into a tractable quadratic programming structure. It is demonstrated that the optimal Lagrange multipliers governing this approximated problem can be found by solving a linear program. The constraints of this linear program are derived from Karush-Kuhn-Tucker conditions and are expressed in terms of the generalized eigenvalues of channel-derived matrices. This framework facilitates the derivation of an analytical formula for an approximate local secrecy capacity. Furthermore, we define and analyze a new class of secret local contraction coefficients. These coefficients, characterized as the largest generalized eigenvalues of a matrix pencil, quantify the maximum achievable ratio of approximate utility to approximate leakage, thus measuring the intrinsic local leakage efficiency of the channel. We establish bounds connecting these local coefficients to their global counterparts defined over true mutual information measures. The efficacy of the proposed framework is demonstrated through detailed analysis and numerical illustrations for both general multi-mode channels and the canonical binary symmetric wiretap channel.
Optimize Replica Server Placement in a Satellite Network
Venue: arXiv cs.NI 2025
Year: 2025

Satellite communication offers Internet connectivity to remote locations, such as villages, deserts, mountains, and at sea. However, transmitting content over satellite networks is significantly more expensive than traditional Internet. To address this issue, we propose placing content replica servers within satellite networks and optimizing replica placement for important performance metrics, such as latency, transmission, and storage cost. Our approach can support different types of satellite networks, including Low Earth Orbit (LEO), Medium Earth Orbit (MEO), Geostationary Orbit (GEO), and their combinations. An important challenge for supporting content replicas in such networks is that LEO and MEO satellites are constantly moving. We address this challenge by explicitly considering their moving trajectories and strategically optimizing not only client performance, but also the cost of transferring content from one satellite to another as needed. We demonstrate the effectiveness of our approach using both simulated traffic traces and a prototype system.
Property Testing for Ocean Models. Can We Specify It? (Invited Talk)
Venue: arXiv cs.SE 2025
Year: 2025

I take inspiration from the property-testing literature, particularly the work of Prof. John Hughes, and explore how such ideas might be applied to numerical models of the ocean. Specifically, I ask whether geophysical fluid dynamics (GFD) theory, expressed as property tests, might be used to address the oracle problem of testing the correctness of ocean models. I propose that a number of simple idealized GFD problems can be framed as property tests. These examples clearly illustrate how physics naturally lends itself to specifying property tests. Which of these proposed tests might be most feasible and useful, remains to be seen.
Information-Theoretic Reward Modeling for Stable RLHF: Detecting and Mitigating Reward Hacking
Venue: arXiv cs.LG 2025
Year: 2025

Despite the success of Reinforcement Learning from Human Feedback (RLHF) in aligning language models with human values, reward hacking-or reward over-optimization-remains a major challenge. We identify two key obstacles to its mitigation: (1) reward misgeneralization in reward modeling, where reward models overfit to spurious, preference-irrelevant features; and (2) the lack of suitable regularization during RL optimization, as existing token-level constraints often over-restrict the policy space. To address these issues, we propose InfoRM, an information-theoretic reward modeling framework based on the Information Bottleneck (IB) principle, which filters out preference-irrelevant information to alleviate reward misgeneralization. We further observe that reward-hacked responses manifest as pronounced outliers in InfoRM's IB latent space, measured by Mahalanobis distance from the SFT-induced distribution. Motivated by this, we introduce IBL, a distribution-level regularization that penalizes such deviations, effectively expanding the optimization landscape while maintaining alignment. We prove that IBL is theoretically equivalent to the pessimistic RL objective within the IB latent space. Finally, we present Mahalanobis Outlier Probability (MOP), a statistical metric for quantifying reward hacking severity, enabling principled hyperparameter tuning and online mitigation such as early stopping. Extensive experiments across diverse LLMs and datasets confirm the generality of our findings, the effectiveness of InfoRM and IBL, and the reliability of MOP as a diagnostic tool-collectively advancing the state of RLHF.
Circle of Willis Centerline Graphs: A Dataset and Baseline Algorithm
Venue: arXiv cs.CV 2025
Year: 2025

The Circle of Willis (CoW) is a critical network of arteries in the brain, often implicated in cerebrovascular pathologies. Voxel-level segmentation is an important first step toward an automated CoW assessment, but a full quantitative analysis requires centerline representations. However, conventional skeletonization techniques often struggle to extract reliable centerlines due to the CoW's complex geometry, and publicly available centerline datasets remain scarce. To address these challenges, we used a thinning-based skeletonization algorithm to extract and curate centerline graphs and morphometric features from the TopCoW dataset, which includes 200 stroke patients, each imaged with MRA and CTA. The curated graphs were used to develop a baseline algorithm for centerline and feature extraction, combining U-Net-based skeletonization with A* graph connection. Performance was evaluated on a held-out test set, focusing on anatomical accuracy and feature robustness. Further, we used the extracted features to predict the frequency of fetal PCA variants, confirm theoretical bifurcation optimality relations, and detect subtle modality differences. The baseline algorithm consistently reconstructed graph topology with high accuracy (F1 = 1), and the average Euclidean node distance between reference and predicted graphs was below one voxel. Features such as segment radius, length, and bifurcation ratios showed strong robustness, with median relative errors below 5% and Pearson correlations above 0.95. Our results demonstrate the utility of learning-based skeletonization combined with graph connection for anatomically plausible centerline extraction. We emphasize the importance of going beyond simple voxel-based measures by evaluating anatomical accuracy and feature robustness. The dataset and baseline algorithm have been released to support further method development and clinical research.
Combinatorial Bounds for List Recovery via Discrete Brascamp--Lieb Inequalities
Venue: arXiv cs.IT 2025
Year: 2025

In coding theory, the problem of list recovery asks one to find all codewords $c$ of a given code $C$ which such that at least $1-ρ$ fraction of the symbols of $c$ lie in some predetermined set of $\ell$ symbols for each coordinate of the code. A key question is bounding the maximum possible list size $L$ of such codewords for the given code $C$. In this paper, we give novel combinatorial bounds on the list recoverability of various families of linear and folded linear codes, including random linear codes, random Reed--Solomon codes, explicit folded Reed--Solomon codes, and explicit univariate multiplicity codes. Our main result is that in all of these settings, we show that for code of rate $R$, when $ρ= 1 - R - ε$ approaches capacity, the list size $L$ is at most $(\ell/(R+ε))^{O(R/ε)}$. These results also apply in the average-radius regime. Our result resolves a long-standing open question on whether $L$ can be bounded by a polynomial in $\ell$. In the zero-error regime, our bound on $L$ perfectly matches known lower bounds. The primary technique is a novel application of a discrete entropic Brascamp--Lieb inequality to the problem of list recovery, allowing us to relate the local structure of each coordinate with the global structure of the recovered list. As a result of independent interest, we show that a recent result by Chen and Zhang (STOC 2025) on the list decodability of folded Reed--Solomon codes can be generalized into a novel Brascamp--Lieb type inequality.
BRIEF-Pro: Universal Context Compression with Short-to-Long Synthesis for Fast and Accurate Multi-Hop Reasoning
Venue: arXiv cs.CL 2025
Year: 2025

As retrieval-augmented generation (RAG) tackles complex tasks, increasingly expanded contexts offer richer information, but at the cost of higher latency and increased cognitive load on the model. To mitigate this bottleneck, especially for intricate multi-hop questions, we introduce BRIEF-Pro. It is a universal, lightweight compressor that distills relevant evidence for a given query from retrieved documents into a concise summary for seamless integration into in-context RAG. Using seed data consisting of relatively short contexts (fewer than 1k words), BRIEF-Pro is trained to perform abstractive compression of extended contexts exceeding 10k words across a wide range of scenarios. Furthermore, BRIEF-Pro offers flexible user control over summary length by allowing users to specify the desired number of sentences. Experiments on four open-domain multi-hop question-answering datasets show that BRIEF-Pro generates more concise and relevant summaries, enhancing performance across small, large, and proprietary language models. With the 70B reader model, 32x compression by BRIEF-Pro improves QA performance by 4.67% on average over LongLLMLingua's 9x, while requiring only 23% of its computational overhead.
Choreographing Trash Cans: On Speculative Futures of Weak Robots in Public Spaces
Venue: arXiv cs.HC 2025
Year: 2025

Delivering groceries or cleaning airports, mobile robots exist in public spaces. While these examples showcase robots that execute tasks, this paper explores mobile robots that encourage posthuman collaboration rather than managing environments independently. With feigned fragility, cuteness and incomplete functionalities, the so-called "weak robots" invite passersby to engage not only on a utilitarian level, but also through imaginative and emotional responses. After examining the workings of "weak robots" by queering notions of function and ability, we introduce two speculative design fiction vignettes that describe choreographies of such robots in future urban spaces -- one exploring a utopian weak robot and the other a dystopian weak robot. We introduce these speculations in order to discuss how different values may drive design decisions, and how such decisions may shape and drive different socio-technical futures in which robots and humans share public spaces that incentivise collaboration.
Puzzlegram: a Serious Game Designed for the Elderly in Group Settings
Venue: arXiv cs.HC 2025
Year: 2025

An original serious game prototype named 'Puzzlegram' is created for the elderly demographic in group settings as the target players. Puzzlegram is precisely designed to accentuate memory, auditory interaction as well as haptic response to visual signals with the use of music. Music is introduced as a key component for establishing the game design that provides a source of meaningful contextualization (familiar music from the past) for setting the game mechanics, which facilitated the construction of the serious game design process. The discussion topics raised include the need to design serious games for fostering meaningful interactions, as well as developing a thorough framework for constructing purposeful design for serious games. A potential integral of artificial intelligence to Puzzlegram may involve assigning a novel dimension to its existing problem solving task by adapting to varying states of cognitive function for monitoring purposes based on an individual's interaction with the game.
A Linguistics-Aware LLM Watermarking via Syntactic Predictability
Venue: arXiv cs.CL 2025
Year: 2025

As large language models (LLMs) continue to advance rapidly, reliable governance tools have become critical. Publicly verifiable watermarking is particularly essential for fostering a trustworthy AI ecosystem. A central challenge persists: balancing text quality against detection robustness. Recent studies have sought to navigate this trade-off by leveraging signals from model output distributions (e.g., token-level entropy); however, their reliance on these model-specific signals presents a significant barrier to public verification, as the detection process requires access to the logits of the underlying model. We introduce STELA, a novel framework that aligns watermark strength with the linguistic degrees of freedom inherent in language. STELA dynamically modulates the signal using part-of-speech (POS) n-gram-modeled linguistic indeterminacy, weakening it in grammatically constrained contexts to preserve quality and strengthen it in contexts with greater linguistic flexibility to enhance detectability. Our detector operates without access to any model logits, thus facilitating publicly verifiable detection. Through extensive experiments on typologically diverse languages-analytic English, isolating Chinese, and agglutinative Korean-we show that STELA surpasses prior methods in detection robustness. Our code is available at https://github.com/Shinwoo-Park/stela_watermark.
Revisiting the UID Hypothesis in LLM Reasoning Traces
Venue: arXiv cs.CL 2025
Year: 2025

Large language models (LLMs) often solve problems using step-by-step Chain-of-Thought (CoT) reasoning, yet these intermediate steps are frequently unfaithful or hard to interpret. Inspired by the Uniform Information Density (UID) hypothesis in psycholinguistics -- which posits that humans communicate by maintaining a stable flow of information -- we introduce entropy-based metrics to analyze the information flow within reasoning traces. Surprisingly, across three challenging mathematical benchmarks, we find that successful reasoning in LLMs is globally non-uniform: correct solutions are characterized by uneven swings in information density, in stark contrast to human communication patterns. This result challenges assumptions about machine reasoning and suggests new directions for designing interpretable and adaptive reasoning models.
Benchmarking Correctness and Security in Multi-Turn Code Generation
Venue: arXiv cs.SE 2025
Year: 2025

AI coding assistants powered by large language models (LLMs) have transformed software development, significantly boosting productivity. While existing benchmarks evaluate the correctness and security of LLM-generated code, they are typically limited to single-turn tasks that do not reflect the iterative nature of real-world development. We introduce MT-Sec, the first benchmark to systematically evaluate both correctness and security in multi-turn coding scenarios. We construct this using a synthetic data pipeline that transforms existing single-turn tasks into semantically aligned multi-turn interaction sequences, allowing reuse of original test suites while modeling the complexity of real-world coding processes. We evaluate 32 open- and closed-source models, and three agent-scaffolding on MT-Sec and observe a consistent 20-27% drop in "correct and secure" outputs from single-turn to multi-turn settings -- even among state-of-the-art models. Beyond full-program generation, we also evaluate models on multi-turn code-diff generation -- an unexplored yet practically relevant setting -- and find that models perform worse here, with increased rates of functionally incorrect and insecure outputs. Finally, we find that while agent scaffoldings boost single-turn code generation performance, they are not quite as effective in multi-turn evaluations. Together, these findings highlight the need for benchmarks that jointly evaluate correctness and security in multi-turn, real-world coding workflows.
Unlocking the Potential of Diffusion Language Models through Template Infilling
Venue: arXiv cs.CL 2025
Year: 2025

Diffusion Language Models (DLMs) have emerged as a promising alternative to Autoregressive Language Models, yet their inference strategies remain limited to prefix-based prompting inherited from the autoregressive paradigm. In this paper, we propose Template Infilling (TI), a tailored conditioning methodology for DLMs' generation process. Unlike conventional prefix prompting, TI first generates a structural template for the target response, then fills in the masked segments. To enhance the flexibility of this structural control, we introduce Dynamic Segment Allocation (DSA), which adaptively adjusts segment lengths based on generation confidence. We demonstrate the effectiveness of our approach on mathematical reasoning and code generation benchmarks, achieving consistent improvements of 17.01$\%$p over baseline. Furthermore, we show that TI provides additional advantages in multi-token generation settings, enabling effective speedup while maintaining generation quality.
Too Open for Opinion? Embracing Open-Endedness in Large Language Models for Social Simulation
Venue: arXiv cs.CL 2025
Year: 2025

Large Language Models (LLMs) are increasingly used to simulate public opinion and other social phenomena. Most current studies constrain these simulations to multiple-choice or short-answer formats for ease of scoring and comparison, but such closed designs overlook the inherently generative nature of LLMs. In this position paper, we argue that open-endedness, using free-form text that captures topics, viewpoints, and reasoning processes "in" LLMs, is essential for realistic social simulation. Drawing on decades of survey-methodology research and recent advances in NLP, we argue why this open-endedness is valuable in LLM social simulations, showing how it can improve measurement and design, support exploration of unanticipated views, and reduce researcher-imposed directive bias. It also captures expressiveness and individuality, aids in pretesting, and ultimately enhances methodological utility. We call for novel practices and evaluation frameworks that leverage rather than constrain the open-ended generative diversity of LLMs, creating synergies between NLP and social science.
Order from Chaos: Comparative Study of Ten Leading LLMs on Unstructured Data Categorization
Venue: arXiv cs.CL 2025
Year: 2025

This study presents a comparative evaluation of ten state-of-the-art large language models (LLMs) applied to unstructured text categorization using the Interactive Advertising Bureau (IAB) 2.2 hierarchical taxonomy. The analysis employed a uniform dataset of 8,660 human-annotated samples and identical zero-shot prompts to ensure methodological consistency across all models. Evaluation metrics included four classic measures - accuracy, precision, recall, and F1-score - and three LLM-specific indicators: hallucination ratio, inflation ratio, and categorization cost. Results show that, despite their rapid advancement, contemporary LLMs achieve only moderate classic performance, with average scores of 34% accuracy, 42% precision, 45% recall, and 41% F1-score. Hallucination and inflation ratios reveal that models frequently overproduce categories relative to human annotators. Among the evaluated systems, Gemini 1.5/2.0 Flash and GPT 20B/120B offered the most favorable cost-to-performance balance, while GPT 120B demonstrated the lowest hallucination ratio. The findings suggest that scaling and architectural improvements alone do not ensure better categorization accuracy, as the task requires compressing rich unstructured text into a limited taxonomy - a process that challenges current model architectures. To address these limitations, a separate ensemble-based approach was developed and tested. The ensemble method, in which multiple LLMs act as independent experts, substantially improved accuracy, reduced inflation, and completely eliminated hallucinations. These results indicate that coordinated orchestration of models - rather than sheer scale - may represent the most effective path toward achieving or surpassing human-expert performance in large-scale text categorization.
Post-surgical Endometriosis Segmentation in Laparoscopic Videos
Venue: arXiv cs.CV 2025
Year: 2025

Endometriosis is a common women's condition exhibiting a manifold visual appearance in various body-internal locations. Having such properties makes its identification very difficult and error-prone, at least for laymen and non-specialized medical practitioners. In an attempt to provide assistance to gynecologic physicians treating endometriosis, this demo paper describes a system that is trained to segment one frequently occurring visual appearance of endometriosis, namely dark endometrial implants. The system is capable of analyzing laparoscopic surgery videos, annotating identified implant regions with multi-colored overlays and displaying a detection summary for improved video browsing.